<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Calico: calico/third_party/apriltags/apriltags/Edge.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/x-mathjax-config">
  MathJax.Hub.Config({
    extensions: ["tex2jax.js"],
    jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Calico
   </div>
   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_e7ac338090e46d594d3ea7a0e9efc7ba.html">calico</a></li><li class="navelem"><a class="el" href="dir_65d747a460e6d1ffaba160a154370ebb.html">third_party</a></li><li class="navelem"><a class="el" href="dir_3db016810d58e96ba2daf796df211604.html">apriltags</a></li><li class="navelem"><a class="el" href="dir_4a25d34b206d743290bd9e525b1db332.html">apriltags</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">Edge.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef EDGE_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define EDGE_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;apriltags/FloatImage.h&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="namespaceAprilTags.html">    8</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceAprilTags.html">AprilTags</a> {</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1FloatImage.html">FloatImage</a>;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1UnionFindSimple.html">UnionFindSimple</a>;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">using</span> std::min;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">using</span> std::max;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1Edge.html">Edge</a> {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#a279b972838aeefb8093b1eb01158a57c">   22</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">float</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Edge.html#a279b972838aeefb8093b1eb01158a57c">minMag</a>;   </div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#a7ac272dfcf04e12ecc3f90b80641bac4">   23</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">float</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Edge.html#a7ac272dfcf04e12ecc3f90b80641bac4">maxEdgeCost</a>;   </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> <span class="keyword">const</span> WEIGHT_SCALE; <span class="comment">// was 10000</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#ad7b3f90f934cbd9105b3cda63b0167ba">   25</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">float</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Edge.html#ad7b3f90f934cbd9105b3cda63b0167ba">thetaThresh</a>; </div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#a36747ff004f7264c1eba593428bdc188">   26</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">float</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Edge.html#a36747ff004f7264c1eba593428bdc188">magThresh</a>; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordtype">int</span> pixelIdxA;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordtype">int</span> pixelIdxB;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordtype">int</span> cost;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#a274da8c779613f624ec8ee857dc0ba7d">   33</a></span>&#160;  <a class="code" href="classAprilTags_1_1Edge.html#a274da8c779613f624ec8ee857dc0ba7d">Edge</a>() : pixelIdxA(), pixelIdxB(), cost() {}</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Edge.html#aa33f1331d7680ef3cd539dece9f4f500">   36</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classAprilTags_1_1Edge.html#aa33f1331d7680ef3cd539dece9f4f500">operator&lt; </a>(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Edge.html">Edge</a> &amp;other)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (cost &lt; other.cost); }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classAprilTags_1_1Edge.html#a8d32a6e3e60579f14caa4d2bd4a89e28">edgeCost</a>(<span class="keywordtype">float</span>  theta0, <span class="keywordtype">float</span> theta1, <span class="keywordtype">float</span> mag1);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classAprilTags_1_1Edge.html#ac9c140619c544ef691828686e137049c">calcEdges</a>(<span class="keywordtype">float</span> theta0, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1FloatImage.html">FloatImage</a>&amp; theta, <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1FloatImage.html">FloatImage</a>&amp; mag,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            std::vector&lt;Edge&gt; &amp;edges, <span class="keywordtype">size_t</span> &amp;nEdges);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classAprilTags_1_1Edge.html#a865ec1903f15bab40e3231e23c6d8845">mergeEdges</a>(std::vector&lt;Edge&gt; &amp;edges, <a class="code" href="classAprilTags_1_1UnionFindSimple.html">UnionFindSimple</a> &amp;uf, <span class="keywordtype">float</span> tmin[], <span class="keywordtype">float</span> tmax[], <span class="keywordtype">float</span> mmin[], <span class="keywordtype">float</span> mmax[]);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;};</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html"><div class="ttname"><a href="classAprilTags_1_1Edge.html">AprilTags::Edge</a></div><div class="ttdoc">Represents an edge between adjacent pixels in the image.</div><div class="ttdef"><b>Definition:</b> Edge.h:20</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a274da8c779613f624ec8ee857dc0ba7d"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a274da8c779613f624ec8ee857dc0ba7d">AprilTags::Edge::Edge</a></div><div class="ttdeci">Edge()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> Edge.h:33</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a279b972838aeefb8093b1eb01158a57c"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a279b972838aeefb8093b1eb01158a57c">AprilTags::Edge::minMag</a></div><div class="ttdeci">static float const minMag</div><div class="ttdoc">minimum intensity gradient for an edge to be recognized</div><div class="ttdef"><b>Definition:</b> Edge.h:22</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a36747ff004f7264c1eba593428bdc188"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a36747ff004f7264c1eba593428bdc188">AprilTags::Edge::magThresh</a></div><div class="ttdeci">static float const magThresh</div><div class="ttdoc">magnitude threshold for merging edges</div><div class="ttdef"><b>Definition:</b> Edge.h:26</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a7ac272dfcf04e12ecc3f90b80641bac4"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a7ac272dfcf04e12ecc3f90b80641bac4">AprilTags::Edge::maxEdgeCost</a></div><div class="ttdeci">static float const maxEdgeCost</div><div class="ttdoc">30 degrees = maximum acceptable difference in local orientations</div><div class="ttdef"><b>Definition:</b> Edge.h:23</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a865ec1903f15bab40e3231e23c6d8845"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a865ec1903f15bab40e3231e23c6d8845">AprilTags::Edge::mergeEdges</a></div><div class="ttdeci">static void mergeEdges(std::vector&lt; Edge &gt; &amp;edges, UnionFindSimple &amp;uf, float tmin[], float tmax[], float mmin[], float mmax[])</div><div class="ttdoc">Process edges in order of increasing cost, merging clusters if we can do so without exceeding the the...</div><div class="ttdef"><b>Definition:</b> Edge.cc:69</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_a8d32a6e3e60579f14caa4d2bd4a89e28"><div class="ttname"><a href="classAprilTags_1_1Edge.html#a8d32a6e3e60579f14caa4d2bd4a89e28">AprilTags::Edge::edgeCost</a></div><div class="ttdeci">static int edgeCost(float theta0, float theta1, float mag1)</div><div class="ttdoc">Cost of an edge between two adjacent pixels; -1 if no edge here.</div><div class="ttdef"><b>Definition:</b> Edge.cc:14</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_aa33f1331d7680ef3cd539dece9f4f500"><div class="ttname"><a href="classAprilTags_1_1Edge.html#aa33f1331d7680ef3cd539dece9f4f500">AprilTags::Edge::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Edge &amp;other) const</div><div class="ttdoc">Compare edges based on cost.</div><div class="ttdef"><b>Definition:</b> Edge.h:36</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_ac9c140619c544ef691828686e137049c"><div class="ttname"><a href="classAprilTags_1_1Edge.html#ac9c140619c544ef691828686e137049c">AprilTags::Edge::calcEdges</a></div><div class="ttdeci">static void calcEdges(float theta0, int x, int y, const FloatImage &amp;theta, const FloatImage &amp;mag, std::vector&lt; Edge &gt; &amp;edges, size_t &amp;nEdges)</div><div class="ttdoc">Calculates and inserts up to four edges into 'edges', a vector of Edges.</div><div class="ttdef"><b>Definition:</b> Edge.cc:26</div></div>
<div class="ttc" id="aclassAprilTags_1_1Edge_html_ad7b3f90f934cbd9105b3cda63b0167ba"><div class="ttname"><a href="classAprilTags_1_1Edge.html#ad7b3f90f934cbd9105b3cda63b0167ba">AprilTags::Edge::thetaThresh</a></div><div class="ttdeci">static float const thetaThresh</div><div class="ttdoc">theta threshold for merging edges</div><div class="ttdef"><b>Definition:</b> Edge.h:25</div></div>
<div class="ttc" id="aclassAprilTags_1_1FloatImage_html"><div class="ttname"><a href="classAprilTags_1_1FloatImage.html">AprilTags::FloatImage</a></div><div class="ttdoc">Represent an image as a vector of floats in [0,1].</div><div class="ttdef"><b>Definition:</b> FloatImage.h:15</div></div>
<div class="ttc" id="aclassAprilTags_1_1UnionFindSimple_html"><div class="ttname"><a href="classAprilTags_1_1UnionFindSimple.html">AprilTags::UnionFindSimple</a></div><div class="ttdoc">Implementation of disjoint set data structure using the union-find algorithm.</div><div class="ttdef"><b>Definition:</b> UnionFindSimple.h:9</div></div>
<div class="ttc" id="anamespaceAprilTags_html"><div class="ttname"><a href="namespaceAprilTags.html">AprilTags</a></div><div class="ttdef"><b>Definition:</b> Edge.h:8</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
</small></address>
</body>
</html>
